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BeagleBone Blue single board computer
Used to control all robot functions
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Brushless -77kPa parallel micro vacuum pump HXB05KNDC 12V EPDM
Pump has 2 heads: one connected to the left foot, other to the right foot.
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Pololu voltage regulators U3V50AHV
One converter boosts 2S LiPo battery output to 12V for vacuum pump, other to 12V for Dynamixels
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High speed rotary pneumatic joints KSL 06-01S
Allows wheels to turn while providing vacuum to suction cups
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Nitrile or silicone rubber o-rings
95mm ID, 105mm OD, 5mm width for tires
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2 inline vacuum filters ZFB200-06B
To prevent dust from entering vacuum pump
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3-way pneumatic fittings SPE-6
Allows to connect 3 pneumatic tubes
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Vacuum suction cups
10 cm diameter
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UVA+UVC LED
For disinfection function. Also useful for testing for counterfeit banknotes
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HN12-I101 horn sets for Dynamixels
For attaching freely rotating bracket to other side of Dynamixels
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Pneumatic air tubing
6mm OD, 4mm ID
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Toggle switches
One 3PDT for battery charging wires and one 2PDT for battery discharge wires
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6704ZZ Deep groove ball bearings 20x27x4mm
Ideally crossed roller bearings should be used but they are very expensive
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Dynamixel XM430-W350-T servo motors
For locomotion
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Neodymium magnets 4x4x15mm
3 for tool holders on robot body, 3 for tools and 1 on wheel
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U2D2 converter
Allows to control Dynamixel servo motors via USB
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KingMax CLS4406HHV high voltage servo motors
For controlling pneumatic valves
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2S LiPo battery
I used 1500mAh battery but robot is capable of carrying a bigger battery
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USB hub
Optional for webcam as U2D2 converter uses up the only USB port on BeagleBone Blue
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Screws
Most holes on 3D printed parts use M3 screws but could be easily adapted for other sizes
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